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Authors: Alexandre Brandão 1 ; Felipe Martins 2 and Higor Soneguetti 2

Affiliations: 1 Federal University of Viçosa, Brazil ; 2 Hanze University of Applied Sciences, Brazil

Keyword(s): Unmanned Aerial Vehicles, Nonlinear Control, Vision-based Control, Quadrotor.

Related Ontology Subjects/Areas/Topics: Image Processing ; Informatics in Control, Automation and Robotics ; Robot Design, Development and Control ; Robotics and Automation

Abstract: Unmanned Aerial Vehicles (UAVs) are versatile machines that can be used in a variety of applications, such as automatic monitoring of crops and water channels, pest detection, animal counting etc. Autonomous flying is a desirable feature for UAVs, especially for those that are frequently used in monitoring and inspection of large areas. In some situations, global positioning system signal is not guaranteed or its error might be too large, hence other methods of local position feedback are required. In such a context, we present the development of a vision-based line following strategy for an autonomous UAV. The proposed system is intended to guide an autonomous UAV to follow water channel margins, crop lines and other similar patterns, to support automatic monitoring and inspection activities. We present the design of a nonlinear path following controller and we show that the resulting closed-loop system is stable in the sense of Lyapunov. We also propose a visual-based line detectio n algorithm that it is capable of detecting the average position and orientation of the main lines on the image frames captured by the UAV downwards facing camera. Finally, we present and discuss some experimental results that show the good performance of the proposed system. (More)

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Paper citation in several formats:
Brandão, A.; Martins, F. and Soneguetti, H. (2015). A Vision-based Line Following Strategy for an Autonomous UAV. In Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-758-123-6; ISSN 2184-2809, SciTePress, pages 314-319. DOI: 10.5220/0005543903140319

@conference{icinco15,
author={Alexandre Brandão. and Felipe Martins. and Higor Soneguetti.},
title={A Vision-based Line Following Strategy for an Autonomous UAV},
booktitle={Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2015},
pages={314-319},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005543903140319},
isbn={978-989-758-123-6},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - A Vision-based Line Following Strategy for an Autonomous UAV
SN - 978-989-758-123-6
IS - 2184-2809
AU - Brandão, A.
AU - Martins, F.
AU - Soneguetti, H.
PY - 2015
SP - 314
EP - 319
DO - 10.5220/0005543903140319
PB - SciTePress